Synthesized sliding mode control of a single-link flexible robot

Abstract

This paper proposes a synthesized sliding mode controller using frequency shaping and terminal attractor methods for single-link r-mode flexible robotic manipulators. The frequency shaping technique is used to suppress the inherent resonance modes of the flexible manipulator, while terminal attractor is used to expedite the convergence of the sliding mode near the equilibrium and to reduce steady state error. The asymptotical stability of the synthesized sliding mode is proven by using Popov'S criterion. Numerical simulations confirm the effectiveness and robustness of the proposed sliding mode controller.